Add check sensor type

src/processor/processor_bundle_adjustment.cpp

@@ -62,7 +62,8 @@ void ProcessorBundleAdjustment::configure(SensorBasePtr _sensor)
 {
     //TODO: Implement if needed
 	//Initialize camera sensor pointer
-	camera = std::static_pointer_cast<SensorCamera>(_sensor);
+	camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
+    assert(camera != nullptr && "Sensor is not of type Camera");
 
 }
 

src/processor/processor_tracker_feature_image.cpp

@@ -44,7 +44,8 @@ ProcessorTrackerFeatureImage::~ProcessorTrackerFeatureImage()
 
 void ProcessorTrackerFeatureImage::configure(SensorBasePtr _sensor)
 {
-    SensorCameraPtr camera = std::static_pointer_cast<SensorCamera>(_sensor);
+    SensorCameraPtr camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
+    assert(camera != nullptr && "Sensor is not of type Camera");
 
     image_.width_ = camera->getImgWidth();
     image_.height_ = camera->getImgHeight();

src/processor/processor_tracker_feature_trifocal.cpp

@@ -448,6 +448,8 @@ void ProcessorTrackerFeatureTrifocal::setParams(const ProcessorParamsTrackerFeat
 
 void ProcessorTrackerFeatureTrifocal::configure(SensorBasePtr _sensor)
 {
+    SensorCameraPtr camera = std::dynamic_pointer_cast<SensorCamera>(_sensor);
+    assert(camera != nullptr && "Sensor is not of type Camera");
     _sensor->setNoiseStd(Vector2d::Ones() * params_tracker_feature_trifocal_->pixel_noise_std);
 }
 

src/processor/processor_tracker_landmark_image.cpp

@@ -58,6 +58,10 @@ ProcessorTrackerLandmarkImage::~ProcessorTrackerLandmarkImage()
 
 void ProcessorTrackerLandmarkImage::configure(SensorBasePtr _sensor)
 {
+
+    auto sensor = std::dynamic_pointer_cast<SensorCamera>(_sensor);
+    assert(sensor != nullptr && "Sensor is not of type Camera");
+
     SensorCameraPtr camera(std::static_pointer_cast<SensorCamera>(_sensor));
     image_.width_ = camera->getImgWidth();
     image_.height_ = camera->getImgHeight();